Modeling and analysis of a biomimetic foot mechanism
- Title
- Modeling and analysis of a biomimetic foot mechanism
- Author
- 이병주
- Keywords
- Modeling and analysis; Computer simulation; Biomimetics; Foot structure; Numerical simulation; Mathematical modeling; Muscle; Four-legged robot; Biped Robot; Mammals; Intelligent robots
- Issue Date
- 2009-10
- Publisher
- IEEE
- Citation
- IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Page. 1472-1477
- Abstract
- Humans and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation. © 2009 IEEE.
- URI
- https://ieeexplore.ieee.org/document/5354153https://repository.hanyang.ac.kr/handle/20.500.11754/181096
- ISSN
- 2153-0858;2153-0866
- DOI
- 10.1109/IROS.2009.5354153
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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